This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator ...This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.展开更多
Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve bio...Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.展开更多
Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest benef...Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.展开更多
Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties...Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties and damages.Therefore,improving the robustness of soft robots in hostile environmental conditions has always been a challenge.Existing methods usually improve this robustness through damage isolation,material elasticity,and self-healing mechanisms.In contrast to existing methods,this paper proposes a method to improve the robustness of an untethered soft-swallowing robot based on the physical properties of fluids,such as the high specific heat capacity of water,the viscosity of soft glue,and the shear thickening of non-Newtonian fluids.Based on this method,we developed a soft-swallowing robot with enhanced heat resistance,damage tolerance,and impact mitigation capability by only replacing its fluid working medium.Experiments show that the developed soft-swallowing robot can withstand high temperatures above 600°C,maintain high performance even after enduring hundreds of damages,and protect grasped object from more than 90%of external impacts.This principle extends beyond the three fluids used in this study.Other fluids,such as magnetic fluid,can increase adhesion to metal materials,whereas oily fluids can reduce frictional resistance between soft structures.Additionally,other solid materials with elasticity and compliance can serve as alternative working mediums for the soft-swallowing robot.This work contributes an effective method for fluid-dependent soft robotic systems to resist the damage from uncertain factors in harsh environments.展开更多
Untethered miniature robots(MRs)offer a minimally invasive way to address adverse vascular blockages,such as cerebrovascular thromboembolism,myocardial infarction,and pulmonary embolism.This review explores three key ...Untethered miniature robots(MRs)offer a minimally invasive way to address adverse vascular blockages,such as cerebrovascular thromboembolism,myocardial infarction,and pulmonary embolism.This review explores three key questions:what are the design principles of MRs from both engineering and clinical perspectives?How can visible intervention of MRs in three-dimensional(3D)branched vessels be achieved?What is the clinical procedure for treating thrombus using designed MRs?Recent progress in MRs for thrombus removal is summarized,and,more importantly,the pros and cons of MRs are discussed.We also evaluate the challenges that may hinder their clinical deployment and propose future research directions,bridging the gap between the bench and the bedside.展开更多
Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate repti...Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w...Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.展开更多
Obstacle avoidance is of great importance for mobile robots since it provides protection for the robots’safety and ensures their routine operations.Sensors are proven to play an important role in robots obstacle avoi...Obstacle avoidance is of great importance for mobile robots since it provides protection for the robots’safety and ensures their routine operations.Sensors are proven to play an important role in robots obstacle avoidance,and they are useful as well.However,more sensors indicating additional space,larger weight load and more energy consumption.Reducing unnecessary sensors is conducive to the development of mobile robots and remains promising.Here we demonstrate Sensor Free Obstacle-Passing Robots(SFOPRs)inspired by flies using the Obstacle-passing strategy instead of Obstacle avoidance.The ability to autonomously adjust its direction after hitting obstacles and the ability to continuously hit obstacles are 2 key problems that need to be solved to build this robot.Owing to arc-shaped head design and undulating motion behaviors,the robots can autonomously adjust their direction to the outline of obstacles,such as a 90°corner,dispersive irregular obstacles,and even an"S"type channel without the assistance of any sensor.Besides,the caterpillar-like movement enables robots to continuously hit obstacles.Furthermore,collaborative awareness and mutual aid can be realized among two or more prototype robots,indicating simple yet functional units for future swarm robots.This study could provide a new strategy to pursue sensor-free obstacle-passing robots for future swarm robot applications.展开更多
Minimally invasive transcatheter embolization is a widely utilized in interventional radiology to occlude blood vessels for treating a range of diseases and vascular injuries.Various embolic agents,such as metallic co...Minimally invasive transcatheter embolization is a widely utilized in interventional radiology to occlude blood vessels for treating a range of diseases and vascular injuries.Various embolic agents,such as metallic coils,microspheres,and liquidbased agents,are delivered to the target site to effectively block blood flow and achieve vessel occlusion.However,precise and selective deployment of these agents into target lesions remains a challenge due to the limited steerability and maneuverability of current catheter systems.This review provides a comprehensive overview of recent advancements in embolic agents and delivery devices,with a particular focus on emerging robot-assisted embolization technologies.It also discusses the key challenges associated with embolic materials and explores future trends shaping the field.展开更多
基金supported by National Natural Science Foundation of China under Grant no.52475067.
文摘This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.
基金supported by National Natural Science Foundation of China(Grant nos.52275290,51905222)Natural Science Foundation of Jiangsu Province(Grant no.BK20211068)+2 种基金Research Project of State Key Laboratory of Mechanical System and Vibration(Grant no.MSV202419)Major Program of National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(Grant no.92248301)Opening project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(Grant no.KF2023006).
文摘Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.
基金supported by National R&D Program through the NRF funded by Ministry of Science and ICT(2021M3D1A2049315)and the Technology Innovation Program(20021909,Development of H2 gas detection films(?0.1%)and process technologies)funded by the Ministry of Trade,Industry&Energy(MOTIE,Korea)supported by the Basic Science Program through the NRF of Korea,funded by the Ministry of Science and ICT,Korea.(Project Number:NRF-2022R1C1C1008845)supported by Basic Science Research Program through the NRF funded by the Ministry of Education(Project Number:NRF-2022R1A6A3A13073158)。
文摘Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.
基金Supported by Ningbo Municipal Natural Science Foundation of China(Grant No.2022J134)Zhejiang Provincial Natural Science Foundation of China(Grant No.LQ24E050001)+1 种基金Ningbo Municipal Science and Technology Innovation Ecological Cultivation Project of"Science and Technology Innovation Yongjiang 2035"of China(Grant No.2024Z066)National Natural Science Foundation of China(Grant No.51975505)。
文摘Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties and damages.Therefore,improving the robustness of soft robots in hostile environmental conditions has always been a challenge.Existing methods usually improve this robustness through damage isolation,material elasticity,and self-healing mechanisms.In contrast to existing methods,this paper proposes a method to improve the robustness of an untethered soft-swallowing robot based on the physical properties of fluids,such as the high specific heat capacity of water,the viscosity of soft glue,and the shear thickening of non-Newtonian fluids.Based on this method,we developed a soft-swallowing robot with enhanced heat resistance,damage tolerance,and impact mitigation capability by only replacing its fluid working medium.Experiments show that the developed soft-swallowing robot can withstand high temperatures above 600°C,maintain high performance even after enduring hundreds of damages,and protect grasped object from more than 90%of external impacts.This principle extends beyond the three fluids used in this study.Other fluids,such as magnetic fluid,can increase adhesion to metal materials,whereas oily fluids can reduce frictional resistance between soft structures.Additionally,other solid materials with elasticity and compliance can serve as alternative working mediums for the soft-swallowing robot.This work contributes an effective method for fluid-dependent soft robotic systems to resist the damage from uncertain factors in harsh environments.
基金supported by the National Natural Science Foundation of China with grant nos.82172335,81971994,and 91846103theNational Key R&D Program ofChinawith grant no.2023YFB4705600+4 种基金the Hong Kong Research Grants Council(RGC)with project nos.STG1/E-401/23-N,RFS2122-4S03,R4015-21,C1134-20GF,14300621,and 14301122the National Natural Science Foundation of China with project no.22102104Shenzhen Medical Research Fund(SMRF)with grant no.A2303074Natural Science Foundation of Shenzhen Science and Technology Commission under grants RCBS20200714114920190 and JCYJ20220531103409021the Guangdong Basic and Applied Basic Research Foundation with project no.2021A1515010672.
文摘Untethered miniature robots(MRs)offer a minimally invasive way to address adverse vascular blockages,such as cerebrovascular thromboembolism,myocardial infarction,and pulmonary embolism.This review explores three key questions:what are the design principles of MRs from both engineering and clinical perspectives?How can visible intervention of MRs in three-dimensional(3D)branched vessels be achieved?What is the clinical procedure for treating thrombus using designed MRs?Recent progress in MRs for thrombus removal is summarized,and,more importantly,the pros and cons of MRs are discussed.We also evaluate the challenges that may hinder their clinical deployment and propose future research directions,bridging the gap between the bench and the bedside.
基金supported by the National Key R&D Program of China(NO.2024YFB3409900)the China Postdoctoral Science Foundation(NO.2023M730845)the Heilongjiang Postdoctoral Fund(NO.LBH-Z23182)。
文摘Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
基金the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.
基金supported by the Academic frontier youth team(2017QYTD06,2018QYTD04)at Huazhong University of Science and Technology(HUST)the National 1000 Young Talents Program of China,and the initiatory financial support was from HUST.
文摘Obstacle avoidance is of great importance for mobile robots since it provides protection for the robots’safety and ensures their routine operations.Sensors are proven to play an important role in robots obstacle avoidance,and they are useful as well.However,more sensors indicating additional space,larger weight load and more energy consumption.Reducing unnecessary sensors is conducive to the development of mobile robots and remains promising.Here we demonstrate Sensor Free Obstacle-Passing Robots(SFOPRs)inspired by flies using the Obstacle-passing strategy instead of Obstacle avoidance.The ability to autonomously adjust its direction after hitting obstacles and the ability to continuously hit obstacles are 2 key problems that need to be solved to build this robot.Owing to arc-shaped head design and undulating motion behaviors,the robots can autonomously adjust their direction to the outline of obstacles,such as a 90°corner,dispersive irregular obstacles,and even an"S"type channel without the assistance of any sensor.Besides,the caterpillar-like movement enables robots to continuously hit obstacles.Furthermore,collaborative awareness and mutual aid can be realized among two or more prototype robots,indicating simple yet functional units for future swarm robots.This study could provide a new strategy to pursue sensor-free obstacle-passing robots for future swarm robot applications.
基金supported by the Research Impact Fund(project no.R4015-21)the Research Fellow Scheme(project no.RFS2122-4S03)+1 种基金the Strategic Topics Grant(project no.STG1/E–401/23-N)the General Research Fund(project no.14204324)from the Hong Kong Research Grants Council(RGC).
文摘Minimally invasive transcatheter embolization is a widely utilized in interventional radiology to occlude blood vessels for treating a range of diseases and vascular injuries.Various embolic agents,such as metallic coils,microspheres,and liquidbased agents,are delivered to the target site to effectively block blood flow and achieve vessel occlusion.However,precise and selective deployment of these agents into target lesions remains a challenge due to the limited steerability and maneuverability of current catheter systems.This review provides a comprehensive overview of recent advancements in embolic agents and delivery devices,with a particular focus on emerging robot-assisted embolization technologies.It also discusses the key challenges associated with embolic materials and explores future trends shaping the field.
